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Minor alterations to servo holder, adds rudder model

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This commit is contained in:
Rosia 2022-11-30 13:34:48 +00:00
parent dfe045d421
commit c788f16f70
5 changed files with 244 additions and 695 deletions
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25
ServoHolder.scad
View file

@ -1,6 +1,6 @@
$fn = 30; // number of faces in screw holes $fn = 30; // number of faces in screw holes
thickness = 5; // thickness thickness = 5; // thickness, this doesnt work
// main body // main body
width = 70; width = 70;
@ -8,7 +8,7 @@ depth = 70;
height = 32; height = 32;
// servo // servo
sWidth = 14; sWidth = 15;
sDepth = 32; sDepth = 32;
sHeight = 5; sHeight = 5;
@ -20,7 +20,7 @@ sDiameter = 5; // screw diameter
difference() difference()
{ {
// main // main
cube([width, depth, 5]); cube([width, depth, thickness]);
union() union()
{ {
@ -38,22 +38,21 @@ difference()
// screw holes // screw holes
// NOTE: it might be worth getting rid of the
// top lower holes, we dont need both them and
// the side faces holes
// lower left
translate([cWidth/2, cWidth/2+thickness, 0])
cylinder(h=thickness, d=sDiameter);
// upper left // upper left
translate([cWidth/2, width-cWidth/2, 0]) translate([cWidth/2, width-cWidth/2, 0])
cylinder(h=thickness, d=sDiameter); cylinder(h=thickness, d=sDiameter);
// lower right
translate([depth-cWidth/2, cWidth/2+thickness, 0])
cylinder(h=thickness, d=sDiameter);
// upper right // upper right
translate([depth-cWidth/2, width-cWidth/2, 0]) translate([depth-cWidth/2, width-cWidth/2, 0])
cylinder(h=thickness, d=sDiameter); cylinder(h=thickness, d=sDiameter);
/*
// lower right
translate([depth-cWidth/2, cWidth/2+thickness, 0])
cylinder(h=thickness, d=sDiameter);
// lower left
translate([cWidth/2, cWidth/2+thickness, 0])
cylinder(h=thickness, d=sDiameter);
*/
} }
} }

463
example-control-system.ino
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@ -1,463 +0,0 @@
/*
This file is part of the AberSailbot minimum viable control system (AMVCS).
AMVCS is free software: you can
redistribute it and/or modify it under the terms of the GNU General Public
License as published by the Free Software Foundation, version 2.
This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
details.
You should have received a copy of the GNU General Public License along with
this program; if not, write to the Free Software Foundation, Inc., 51
Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
Copyright Colin Sauze
*/
#include <stdio.h>
#include <Servo.h>
#include <Wire.h>
#include <SoftwareSerial.h>
#include <math.h>
#include "Time.h"
#include "TinyGPS.h"
#define HMC6343_ADDRESS 0x19
#define HMC6343_HEADING_REG 0x50
#define GPS_ENABLE_PIN 12
#define GPS_READ_INTERVAL 15 //how many seconds to leave between GPS reads
#define WP_THRESHOLD 15 //how close (in metres) should we get before we change waypoint?
#define rad2deg(x) (180/M_PI) * x
#define deg2rad(x) x * M_PI/180
Servo rudderServo; // create servo object to control a servo
SoftwareSerial myDebug(7, 8);
TinyGPS gps;
#define HEADING 0
#define WIND_DIR 1
#define ROLL 2
#define PITCH 3
#define RUDDER 4
#define SAIL 5
#define LAT 6
#define LON 7
#define TIME 8
#define DEBUG_CRITICAL 1 //really important messages that we don't want to ignore and are prepared to sacrifice execution speed to see
#define DEBUG_IMPORTANT 2 //fairly important messages that we probably want to see, but might cause issues with execution speed
#define DEBUG_MINOR 3 //less important messages that we can safely turn off to improve execution speed
#define DEBUG_THRESHOLD DEBUG_IMPORTANT //set to 0 to show no debugging messages
byte ledState=0;
struct Data{
uint16_t heading;
uint16_t wind_dir;
int8_t roll;
int8_t pitch;
int8_t rudder;
byte sail;
float lat;
float lon;
long unixtime;
}
state;
//make printf work
static FILE uartout = {
0}
;
static int uart_putchar (char c, FILE *stream)
{
myDebug.write(c) ;
return 0 ;
}
static void say(byte level, char* msg)
{
if(level<=DEBUG_THRESHOLD)
{
myDebug.print("Debug");
myDebug.print(level);
myDebug.print(": [Ctrl] ");
myDebug.println(msg);
}
}
//debugging printf that prepends "Debug:" to everything and can be easily turned off
void dprintf(byte level, const char *fmt, ...)
{
if(level<=DEBUG_THRESHOLD)
{
printf("Debug%d: [Ctrl] ",level);
va_list ap;
va_start(ap, fmt);
vprintf(fmt, ap);
va_end(ap);
}
}
void dprintf2(const char *fmt, ...)
{
//printf("Debug%d: [Ctrl] ",level);
va_list ap;
va_start(ap, fmt);
printf(fmt, ap);
va_end(ap);
}
void setup()
{
//Serial.begin(9600); //baud rate makes no difference on 32u4
Serial.begin(4800); //for GPS
myDebug.begin(4800); //debug UART
say(DEBUG_CRITICAL,"Control system start up");
//required for printf
fdev_setup_stream (&uartout, uart_putchar, NULL, _FDEV_SETUP_WRITE);
stdout = &uartout ;
dprintf(DEBUG_IMPORTANT,"Printf configured \r\n");
delay(5000);
say(DEBUG_IMPORTANT,"Setting up servos...");
//Use .attach for setting up connection to the servo
rudderServo.attach(5, 1060, 1920); // Attach, with the output limited
// between 1000 and 2000 ms
rudderServo.writeMicroseconds(1500);
say(DEBUG_IMPORTANT,"Done");
say(DEBUG_IMPORTANT,"Setting up I2C...");
Wire.begin(); // Initialise i2c for compass
say(DEBUG_IMPORTANT,"Done");
say(DEBUG_IMPORTANT,"Setting up GPS...");
pinMode(GPS_ENABLE_PIN, OUTPUT); //GPS on/off line
//setup GPS
digitalWrite(GPS_ENABLE_PIN,1);
delay(1000);
//turn off VTG
Serial.println("$PSRF103,05,00,00,01*21\r");
//turn off RMC
Serial.println("$PSRF103,04,00,00,01*20\r");
//turn off GSV
Serial.println("$PSRF103,03,00,00,01*27\r");
//turn off GSA
Serial.println("$PSRF103,02,00,00,01*26\r");
//turn off GLL
Serial.println("$PSRF103,01,00,00,01*25\r");
//turn off GGA
Serial.println("$PSRF103,00,00,00,01*24\r");
delay(1000);
//leave GPS on to get its initial fix
//digitalWrite(GPS_ENABLE_PIN,0);
say(DEBUG_IMPORTANT,"Done");
say(DEBUG_IMPORTANT,"Setup Complete\n");
}
//computes an NMEA checksum
byte compute_checksum(byte *data,byte length)
{
byte computed_checksum=0;
for (byte i = 0; i < length; i++)
{
computed_checksum = (byte)computed_checksum ^ data[i];
}
return computed_checksum;
}
//reads heading from HMC6343 compass
int readCompass() {
byte buf[6];
Wire.beginTransmission(HMC6343_ADDRESS); // Start communicating with the HMC6343 compasss
Wire.write(HMC6343_HEADING_REG); // Send the address of the register that we want to read
//Wire.write(0x55); // Send the address of the register that we want to read
Wire.endTransmission();
Wire.requestFrom(HMC6343_ADDRESS, 6); // Request six bytes of data from the HMC6343 compasss
for(int i=0;i<6;i++)
{
while(Wire.available() < 1); // Busy wait while there is no byte to receive
buf[i]=Wire.read();
//printf("buf[%d]=%d\r\n",i,buf[i]);
}
int heading = ((buf[0] << 8) + buf[1]); // the heading in degrees
int pitch = ((buf[2] << 8) + buf[3]); // the pitch in degrees
int roll = ((buf[4] << 8) + buf[5]); // the roll in degrees*/
heading=heading/10;
roll=roll/10;
pitch=pitch/10;
//myDebug.print("Heading = ");
//myDebug.print(heading);
state.roll=(int8_t)roll;
state.pitch=(int8_t)pitch;
state.heading=(uint16_t)heading;
//dprintf(DEBUG_IMPORTANT,"Heading: %d Roll: %d Pitch: %d\r\n",state.heading,state.roll,state.pitch);
//printf("heading=%d\r\n",heading);
//dprintf2("heading=%d\r\n",heading);
delay(100);
return (int)heading; // Print the sensor readings to the serial port.
}
void readGPS() {
unsigned long fix_age=9999,time,date;
say(DEBUG_MINOR,"About to read GPS");
digitalWrite(GPS_ENABLE_PIN,1); //turn the GPS on
delay(1000);
while(fix_age == TinyGPS::GPS_INVALID_AGE||fix_age>3000) //make sure the GPS has a fix, this might cause a wait the first time, but it should be quick any subsequent time
{
Serial.println("$PSRF103,04,01,00,01*21\r");
dprintf(DEBUG_MINOR,"NMEA string: ");
unsigned long start = millis();
while(millis()<start+2000)
{
if(Serial.available())
{
int c = Serial.read();
gps.encode(c);
if(DEBUG_THRESHOLD>=DEBUG_MINOR)
{
myDebug.write(c);
}
if(c=='\n')
{
break;
}
}
}
gps.get_datetime(&date,&time,&fix_age);
dprintf(DEBUG_MINOR,"fix age = %ld\r\n",fix_age);
if(fix_age == TinyGPS::GPS_INVALID_AGE)
{
dprintf(DEBUG_IMPORTANT,"Invalid fix, fix_age=%ld\r\n",fix_age);
say(DEBUG_IMPORTANT,"No GPS fix");
}
}
digitalWrite(GPS_ENABLE_PIN,0); //turn the GPS off
gps.get_datetime(&date,&time,&fix_age);
gps.f_get_position(&state.lat,&state.lon,&fix_age);
if(fix_age == TinyGPS::GPS_INVALID_AGE)
{
say(DEBUG_IMPORTANT,"Invalid fix");
}
else
{
say(DEBUG_IMPORTANT,"Fix Valid");
dprintf(DEBUG_IMPORTANT,"lat=%ld lon=%ld\r\n",(long)(state.lat*1000),(long)(state.lon*1000));
int year;
byte month,day,hour,min,sec;
unsigned long age;
gps.crack_datetime(&year,&month,&day,&hour,&min,&sec,NULL,&age);
setTime(hour,min,sec,day,month,year); //sets the time in the time library, lets us get unix time
}
}
int mod(int value){ //keeps angles betweeen 0 and 360
int newValue;
if(value < 0){
newValue = value + 360;
}
else if(value >= 360){
newValue = value - 360;
}
else{
newValue = value;
}
return newValue;
}
//calculates difference between two headings taking wrap around into account
int get_hdg_diff(int heading1,int heading2)
{
int result;
result = heading1-heading2;
if(result<-180)
{
result = 360 + result;
return result;
}
if(result>180)
{
result = 0 - (360-result);
}
return result;
}
void loop()
{
unsigned long last_gps_read=0;
unsigned long last_time=0,time_now=0;
int wp_hdg=0;
float wp_dist=0.0;
int wp_num=0;
float igain=0.01;
float pgain=0.1;
float running_err=0.0;
int hdg_err=0;
int relwind;
long last_telemetry=0;
#define TELEMETRY_INTERVAL 10
#define TARGET_LOOP_INTERVAL 100 //number of milliseconds between loop intervals
#define NUM_OF_WAYPOINTS 1
float wp_lats[NUM_OF_WAYPOINTS];
float wp_lons[NUM_OF_WAYPOINTS];
wp_lats[0]=52.4;
wp_lons[0]=-4.4;
while(1)
{
//make loop execute at constant speed
time_now=millis();
if(time_now-last_time>0&&time_now-last_time<TARGET_LOOP_INTERVAL)
{
delay(TARGET_LOOP_INTERVAL-(time_now-last_time));
}
last_time=millis();
readCompass();
//state.wind_dir=getTrueWind();
//no wind sensor, so just use a fixed wind direction
state.wind_dir=270;
relwind=mod(state.wind_dir - state.heading);
if(millis()-last_gps_read>(GPS_READ_INTERVAL*1000)||millis()<last_gps_read) //read the GPS at the specified interval or whenever the millis count wraps around
{
say(DEBUG_MINOR,"Reading GPS");
readGPS();
wp_hdg = (int) TinyGPS::course_to(state.lat, state.lon, wp_lats[wp_num],wp_lons[wp_num]);
wp_dist = TinyGPS::distance_between(state.lat, state.lon, wp_lats[wp_num],wp_lons[wp_num]);
if(wp_dist<WP_THRESHOLD)
{
wp_num++;
if(wp_num==NUM_OF_WAYPOINTS) //reached last waypoint already
{
wp_num--;
}
else //reached new waypoint
{
wp_hdg = (int) TinyGPS::course_to(state.lat, state.lon,wp_lats[wp_num],wp_lons[wp_num]);
wp_dist = TinyGPS::distance_between(state.lat, state.lon, wp_lats[wp_num],wp_lons[wp_num]);
}
}
last_gps_read=millis();
}
//sail logic
//sailLogic(relwind);
//rudder logic
hdg_err = get_hdg_diff(wp_hdg,state.heading);
running_err = running_err + (float)hdg_err;
if (abs(running_err > 4000))
{
running_err = 4000; // limit integral component
}
running_err = running_err * 0.9;
/*dprintf("hdg_err = %d running_err = ",hdg_err);
myDebug.println(running_err);*/
state.rudder = (int) round((pgain * (float)hdg_err) + (igain * running_err));
if(state.rudder<-5)
{
state.rudder=-5;
}
else if(state.rudder>5)
{
state.rudder=5;
}
rudderServo.writeMicroseconds(1500+(state.rudder*100));
if(last_telemetry+(TELEMETRY_INTERVAL*1000)<millis())
{
dprintf(DEBUG_CRITICAL,"time=%ld hdg=%d hdg_err=%d roll=%d pitch=%d truewind=%d relwind=%d sail=%d rudder=%d wp_num=%d wp_hdg=%d wp_dist=%ld ",now(),state.heading,hdg_err,state.roll,state.pitch,state.wind_dir,relwind,state.sail,state.rudder,wp_num,wp_hdg,(long)wp_dist);
//time=181734082 hdg=-14836 hdg_err=9217 roll=-22526 pitch=24182 truewind=-25261 relwind=27648 sail=-6656 rudder=-7937 wp_hdg=2768 wp_dist=-284423467 lat=52.41648 lon=-4.06522 wplat=52.40000 wplon=-4.40000 running_err=966.57
// time=1398700112 hdg=158 hdg_err=107 roll=-26 pitch=-32 truewind=302 relwind=144 sail=4 rudder=5 Debug1: [Ctrl] wp_hdg=265 wp_dist=22842 lat=52.41666 lon=-4.06445 wplat=52.40000 wplon=-4.40000 running_err=963.96
if(DEBUG_THRESHOLD>=DEBUG_CRITICAL)
{
myDebug.print("lat=");
myDebug.print(state.lat,5);
myDebug.print(" lon=");
myDebug.print(state.lon,5);
myDebug.print(" wplat=");
myDebug.print(wp_lats[wp_num],5);
myDebug.print(" wplon=");
myDebug.print(wp_lons[wp_num],5);
myDebug.print(" running_err=");
myDebug.println(running_err);
}
//transmit_data();
last_telemetry=millis();
}
}
}

2
rudder.scad Normal file
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@ -0,0 +1,2 @@
linear_extrude(height = 2)
import("rudderProfile.svg");

47
rudderProfile.svg Normal file
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@ -0,0 +1,47 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<svg
width="106mm"
height="20.5mm"
viewBox="0 0 106 20.5"
version="1.1"
id="svg131"
sodipodi:docname="rudderProfile.svg"
inkscape:version="1.1.2 (0a00cf5339, 2022-02-04)"
xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
xmlns="http://www.w3.org/2000/svg"
xmlns:svg="http://www.w3.org/2000/svg">
<defs
id="defs135" />
<sodipodi:namedview
id="namedview133"
pagecolor="#ffffff"
bordercolor="#666666"
borderopacity="1.0"
inkscape:pageshadow="2"
inkscape:pageopacity="0.0"
inkscape:pagecheckerboard="0"
inkscape:document-units="mm"
showgrid="false"
inkscape:zoom="2.2963934"
inkscape:cx="302.21303"
inkscape:cy="-58.570104"
inkscape:window-width="2182"
inkscape:window-height="1440"
inkscape:window-x="0"
inkscape:window-y="0"
inkscape:window-maximized="1"
inkscape:current-layer="g121" />
<title
id="title89">Airfoil plot (user-000) NACA 0010 Airfoil M=0.0% P=0.0% T=10.0% by AirfoilTools.com</title>
<g
transform="translate(3,8)"
id="g121">
<path
fill="none"
stroke="#ff0000"
stroke-width="0.1"
d="M 100,-0.11 99.85,-0.12 99.38,-0.18 98.62,-0.27 97.55,-0.39 96.19,-0.54 94.55,-0.72 92.63,-0.93 90.45,-1.16 88.02,-1.41 85.36,-1.68 82.47,-1.95 79.39,-2.24 76.12,-2.54 72.7,-2.83 69.13,-3.12 65.45,-3.41 61.67,-3.69 57.82,-3.95 53.92,-4.19 50,-4.41 46.08,-4.6 42.18,-4.76 38.33,-4.88 34.55,-4.96 30.87,-5 l -3.57,0.01 -3.42,0.07 -3.27,0.11 -3.08,0.17 -2.89,0.22 -2.66,0.27 L 9.55,-3.84 7.37,-3.48 5.45,-3.07 3.81,-2.63 2.45,-2.16 1.38,-1.65 0.62,-1.13 0.15,-0.57 0,0 l 0.15,0.57 0.47,0.56 0.76,0.52 1.07,0.51 1.36,0.47 1.64,0.44 1.92,0.41 2.18,0.36 2.43,0.31 2.66,0.27 2.89,0.22 3.08,0.17 3.27,0.11 L 27.3,4.99 30.87,5 34.55,4.96 38.33,4.88 42.18,4.76 46.08,4.6 50,4.41 53.92,4.19 57.82,3.95 61.67,3.69 65.45,3.41 69.13,3.12 72.7,2.83 76.12,2.54 79.39,2.24 82.47,1.95 85.36,1.68 88.02,1.41 90.45,1.16 92.63,0.93 94.55,0.72 96.19,0.54 97.55,0.39 98.62,0.27 99.38,0.18 99.85,0.12 100,0.11"
id="path111" />
</g>
</svg>
Side by side

After

Width:  |  Height:  |  Size: 2.2 KiB

358
sppControlSystem.ino
View file

@ -28,13 +28,13 @@
#define HMC6343_HEADING_REG 0x50 #define HMC6343_HEADING_REG 0x50
#define GPS_ENABLE_PIN 12 #define GPS_ENABLE_PIN 12
#define GPS_READ_INTERVAL 15 //how many seconds to leave between GPS reads #define GPS_READ_INTERVAL 15 //how many seconds to leave between GPS reads
#define WP_THRESHOLD 15 //how close (in metres) should we get before we change waypoint? #define WP_THRESHOLD 15 //how close (in metres) should we get before we change waypoint?
#define rad2deg(x) (180/M_PI) * x #define rad2deg(x) (180 / M_PI) * x
#define deg2rad(x) x * M_PI/180 #define deg2rad(x) x *M_PI / 180
Servo rudderServo; // create servo object to control a servo Servo rudderServo; // create servo object to control a servo
SoftwareSerial myDebug(7, 8); SoftwareSerial myDebug(7, 8);
TinyGPS gps; TinyGPS gps;
@ -49,43 +49,39 @@ TinyGPS gps;
#define LON 7 #define LON 7
#define TIME 8 #define TIME 8
#define DEBUG_CRITICAL 1 //really important messages that we don't want to ignore and are prepared to sacrifice execution speed to see #define DEBUG_CRITICAL 1 //really important messages that we don't want to ignore and are prepared to sacrifice execution speed to see
#define DEBUG_IMPORTANT 2 //fairly important messages that we probably want to see, but might cause issues with execution speed #define DEBUG_IMPORTANT 2 //fairly important messages that we probably want to see, but might cause issues with execution speed
#define DEBUG_MINOR 3 //less important messages that we can safely turn off to improve execution speed #define DEBUG_MINOR 3 //less important messages that we can safely turn off to improve execution speed
#define DEBUG_THRESHOLD DEBUG_IMPORTANT //set to 0 to show no debugging messages #define DEBUG_THRESHOLD DEBUG_IMPORTANT //set to 0 to show no debugging messages
byte ledState=0; byte ledState = 0;
struct Data{ struct Data {
uint16_t heading; uint16_t heading;
uint16_t wind_dir; uint16_t wind_dir;
int8_t roll; int8_t roll;
int8_t pitch; int8_t pitch;
int8_t rudder; int8_t rudder;
byte sail; byte sail;
float lat; float lat;
float lon; float lon;
long unixtime; long unixtime;
} } state;
state;
//make printf work //make printf work
static FILE uartout = { static FILE uartout = {
0} 0
; };
static int uart_putchar (char c, FILE *stream) static int uart_putchar(char c, FILE *stream) {
{ myDebug.write(c);
myDebug.write(c) ; return 0;
return 0 ;
} }
static void say(byte level, char* msg) static void say(byte level, char *msg) {
{ if (level <= DEBUG_THRESHOLD) {
if(level<=DEBUG_THRESHOLD)
{
myDebug.print("Debug"); myDebug.print("Debug");
myDebug.print(level); myDebug.print(level);
myDebug.print(": [Ctrl] "); myDebug.print(": [Ctrl] ");
@ -94,12 +90,10 @@ static void say(byte level, char* msg)
} }
//debugging printf that prepends "Debug:" to everything and can be easily turned off //debugging printf that prepends "Debug:" to everything and can be easily turned off
void dprintf(byte level, const char *fmt, ...) void dprintf(byte level, const char *fmt, ...) {
{
if(level<=DEBUG_THRESHOLD) if (level <= DEBUG_THRESHOLD) {
{ printf("Debug%d: [Ctrl] ", level);
printf("Debug%d: [Ctrl] ",level);
va_list ap; va_list ap;
va_start(ap, fmt); va_start(ap, fmt);
@ -108,52 +102,50 @@ void dprintf(byte level, const char *fmt, ...)
} }
} }
void dprintf2(const char *fmt, ...) void dprintf2(const char *fmt, ...) {
{
//printf("Debug%d: [Ctrl] ",level); //printf("Debug%d: [Ctrl] ",level);
va_list ap; va_list ap;
va_start(ap, fmt); va_start(ap, fmt);
printf(fmt, ap); printf(fmt, ap);
va_end(ap); va_end(ap);
} }
void setup() void setup() {
{
//Serial.begin(9600); //baud rate makes no difference on 32u4 //Serial.begin(9600); //baud rate makes no difference on 32u4
//for GPS, we communicate with the GPS through the Serial Port //for GPS, we communicate with the GPS through the Serial Port
//so, using Serial.println() will actually send messages to the GPS //so, using Serial.println() will actually send messages to the GPS
Serial.begin(4800); Serial.begin(4800);
myDebug.begin(4800); //debug UART myDebug.begin(4800); //debug UART
say(DEBUG_CRITICAL,"Control system start up"); say(DEBUG_CRITICAL, "Control system start up");
//required for printf //required for printf
fdev_setup_stream (&uartout, uart_putchar, NULL, _FDEV_SETUP_WRITE); fdev_setup_stream(&uartout, uart_putchar, NULL, _FDEV_SETUP_WRITE);
stdout = &uartout ; stdout = &uartout;
dprintf(DEBUG_IMPORTANT,"Printf configured \r\n"); dprintf(DEBUG_IMPORTANT, "Printf configured \r\n");
delay(5000); delay(5000);
say(DEBUG_IMPORTANT,"Setting up servos..."); say(DEBUG_IMPORTANT, "Setting up servos...");
//Use .attach for setting up connection to the servo //Use .attach for setting up connection to the servo
rudderServo.attach(5, 1060, 1920); // Attach, with the output limited rudderServo.attach(5, 1060, 1920); // Attach, with the output limited
// between 1000 and 2000 ms // between 1000 and 2000 ms
rudderServo.writeMicroseconds(1500); rudderServo.writeMicroseconds(1500);
say(DEBUG_IMPORTANT,"Done"); say(DEBUG_IMPORTANT, "Done");
say(DEBUG_IMPORTANT,"Setting up I2C..."); say(DEBUG_IMPORTANT, "Setting up I2C...");
Wire.begin(); // Initialise i2c for compass Wire.begin(); // Initialise i2c for compass
say(DEBUG_IMPORTANT,"Done"); say(DEBUG_IMPORTANT, "Done");
say(DEBUG_IMPORTANT,"Setting up GPS..."); say(DEBUG_IMPORTANT, "Setting up GPS...");
pinMode(GPS_ENABLE_PIN, OUTPUT); //GPS on/off line pinMode(GPS_ENABLE_PIN, OUTPUT); //GPS on/off line
//setup GPS //setup GPS
digitalWrite(GPS_ENABLE_PIN,1); digitalWrite(GPS_ENABLE_PIN, 1);
delay(1000); delay(1000);
//turn off VTG //turn off VTG
Serial.println("$PSRF103,05,00,00,01*21\r"); Serial.println("$PSRF103,05,00,00,01*21\r");
@ -175,18 +167,16 @@ void setup()
//leave GPS on to get its initial fix //leave GPS on to get its initial fix
//digitalWrite(GPS_ENABLE_PIN,0); //digitalWrite(GPS_ENABLE_PIN,0);
say(DEBUG_IMPORTANT,"Done"); say(DEBUG_IMPORTANT, "Done");
say(DEBUG_IMPORTANT,"Setup Complete\n"); say(DEBUG_IMPORTANT, "Setup Complete\n");
} }
//computes an NMEA checksum //computes an NMEA checksum
byte compute_checksum(byte *data,byte length) byte compute_checksum(byte *data, byte length) {
{ byte computed_checksum = 0;
byte computed_checksum=0;
for (byte i = 0; i < length; i++) for (byte i = 0; i < length; i++) {
{
computed_checksum = (byte)computed_checksum ^ data[i]; computed_checksum = (byte)computed_checksum ^ data[i];
} }
@ -197,32 +187,32 @@ byte compute_checksum(byte *data,byte length)
int readCompass() { int readCompass() {
byte buf[6]; byte buf[6];
Wire.beginTransmission(HMC6343_ADDRESS); // Start communicating with the HMC6343 compasss Wire.beginTransmission(HMC6343_ADDRESS); // Start communicating with the HMC6343 compasss
Wire.write(HMC6343_HEADING_REG); // Send the address of the register that we want to read Wire.write(HMC6343_HEADING_REG); // Send the address of the register that we want to read
//Wire.write(0x55); // Send the address of the register that we want to read //Wire.write(0x55); // Send the address of the register that we want to read
Wire.endTransmission(); Wire.endTransmission();
Wire.requestFrom(HMC6343_ADDRESS, 6); // Request six bytes of data from the HMC6343 compasss Wire.requestFrom(HMC6343_ADDRESS, 6); // Request six bytes of data from the HMC6343 compasss
for(int i=0;i<6;i++) for (int i = 0; i < 6; i++) {
{ while (Wire.available() < 1)
while(Wire.available() < 1); // Busy wait while there is no byte to receive ; // Busy wait while there is no byte to receive
buf[i]=Wire.read(); buf[i] = Wire.read();
//printf("buf[%d]=%d\r\n",i,buf[i]); //printf("buf[%d]=%d\r\n",i,buf[i]);
} }
int heading = ((buf[0] << 8) + buf[1]); // the heading in degrees int heading = ((buf[0] << 8) + buf[1]); // the heading in degrees
int pitch = ((buf[2] << 8) + buf[3]); // the pitch in degrees int pitch = ((buf[2] << 8) + buf[3]); // the pitch in degrees
int roll = ((buf[4] << 8) + buf[5]); // the roll in degrees*/ int roll = ((buf[4] << 8) + buf[5]); // the roll in degrees*/
heading=heading/10; heading = heading / 10;
roll=roll/10; roll = roll / 10;
pitch=pitch/10; pitch = pitch / 10;
//myDebug.print("Heading = "); //myDebug.print("Heading = ");
//myDebug.print(heading); //myDebug.print(heading);
state.roll=(int8_t)roll; state.roll = (int8_t)roll;
state.pitch=(int8_t)pitch; state.pitch = (int8_t)pitch;
state.heading=(uint16_t)heading; state.heading = (uint16_t)heading;
//dprintf(DEBUG_IMPORTANT,"Heading: %d Roll: %d Pitch: %d\r\n",state.heading,state.roll,state.pitch); //dprintf(DEBUG_IMPORTANT,"Heading: %d Roll: %d Pitch: %d\r\n",state.heading,state.roll,state.pitch);
//printf("heading=%d\r\n",heading); //printf("heading=%d\r\n",heading);
@ -230,152 +220,135 @@ int readCompass() {
delay(100); delay(100);
return (int)heading; // Print the sensor readings to the serial port. return (int)heading; // Print the sensor readings to the serial port.
} }
void readGPS() { void readGPS() {
unsigned long fix_age=9999,time,date; unsigned long fix_age = 9999, time, date;
say(DEBUG_MINOR,"About to read GPS"); say(DEBUG_MINOR, "About to read GPS");
digitalWrite(GPS_ENABLE_PIN,1); //turn the GPS on digitalWrite(GPS_ENABLE_PIN, 1); //turn the GPS on
delay(1000); delay(1000);
while(fix_age == TinyGPS::GPS_INVALID_AGE||fix_age>3000) //make sure the GPS has a fix, this might cause a wait the first time, but it should be quick any subsequent time while (fix_age == TinyGPS::GPS_INVALID_AGE || fix_age > 3000) //make sure the GPS has a fix, this might cause a wait the first time, but it should be quick any subsequent time
{ {
Serial.println("$PSRF103,04,01,00,01*21\r"); Serial.println("$PSRF103,04,01,00,01*21\r");
dprintf(DEBUG_MINOR,"NMEA string: "); dprintf(DEBUG_MINOR, "NMEA string: ");
unsigned long start = millis(); unsigned long start = millis();
while(millis()<start+2000) while (millis() < start + 2000) {
{ if (Serial.available()) {
if(Serial.available())
{
int c = Serial.read(); int c = Serial.read();
gps.encode(c); gps.encode(c);
if(DEBUG_THRESHOLD>=DEBUG_MINOR) if (DEBUG_THRESHOLD >= DEBUG_MINOR) {
{
myDebug.write(c); myDebug.write(c);
} }
if(c=='\n') if (c == '\n') {
{
break; break;
} }
} }
} }
gps.get_datetime(&date,&time,&fix_age); gps.get_datetime(&date, &time, &fix_age);
dprintf(DEBUG_MINOR,"fix age = %ld\r\n",fix_age); dprintf(DEBUG_MINOR, "fix age = %ld\r\n", fix_age);
if(fix_age == TinyGPS::GPS_INVALID_AGE) if (fix_age == TinyGPS::GPS_INVALID_AGE) {
{ dprintf(DEBUG_IMPORTANT, "Invalid fix, fix_age=%ld\r\n", fix_age);
dprintf(DEBUG_IMPORTANT,"Invalid fix, fix_age=%ld\r\n",fix_age); say(DEBUG_IMPORTANT, "No GPS fix");
say(DEBUG_IMPORTANT,"No GPS fix");
} }
} }
digitalWrite(GPS_ENABLE_PIN,0); //turn the GPS off digitalWrite(GPS_ENABLE_PIN, 0); //turn the GPS off
gps.get_datetime(&date,&time,&fix_age); gps.get_datetime(&date, &time, &fix_age);
gps.f_get_position(&state.lat,&state.lon,&fix_age); gps.f_get_position(&state.lat, &state.lon, &fix_age);
if(fix_age == TinyGPS::GPS_INVALID_AGE) if (fix_age == TinyGPS::GPS_INVALID_AGE) {
{ say(DEBUG_IMPORTANT, "Invalid fix");
say(DEBUG_IMPORTANT,"Invalid fix");
} }
else else {
{
say(DEBUG_IMPORTANT,"Fix Valid"); say(DEBUG_IMPORTANT, "Fix Valid");
dprintf(DEBUG_IMPORTANT,"lat=%ld lon=%ld\r\n",(long)(state.lat*1000),(long)(state.lon*1000)); dprintf(DEBUG_IMPORTANT, "lat=%ld lon=%ld\r\n", (long)(state.lat * 1000), (long)(state.lon * 1000));
int year; int year;
byte month,day,hour,min,sec; byte month, day, hour, min, sec;
unsigned long age; unsigned long age;
gps.crack_datetime(&year,&month,&day,&hour,&min,&sec,NULL,&age); gps.crack_datetime(&year, &month, &day, &hour, &min, &sec, NULL, &age);
setTime(hour,min,sec,day,month,year); //sets the time in the time library, lets us get unix time
setTime(hour, min, sec, day, month, year); //sets the time in the time library, lets us get unix time
} }
} }
int mod(int value){ //keeps angles betweeen 0 and 360 int mod(int value) { //keeps angles betweeen 0 and 360
int newValue; int newValue;
if(value < 0){ if (value < 0) {
newValue = value + 360; newValue = value + 360;
} } else if (value >= 360) {
else if(value >= 360){
newValue = value - 360; newValue = value - 360;
} } else {
else{
newValue = value; newValue = value;
} }
return newValue; return newValue;
} }
//calculates difference between two headings taking wrap around into account //calculates difference between two headings taking wrap around into account
int get_hdg_diff(int heading1,int heading2) int get_hdg_diff(int heading1, int heading2) {
{
int result; int result;
result = heading1-heading2; result = heading1 - heading2;
if(result<-180) if (result < -180) {
{
result = 360 + result; result = 360 + result;
return result; return result;
} }
if(result>180) if (result > 180) {
{ result = 0 - (360 - result);
result = 0 - (360-result);
} }
return result; return result;
} }
void loop() void loop() {
{ unsigned long last_gps_read = 0;
unsigned long last_gps_read=0; unsigned long last_time = 0, time_now = 0;
unsigned long last_time=0,time_now=0; int wp_hdg = 0; // heading to the next waypoint, in degrees
int wp_hdg=0; // heading to the next waypoint, in degrees float wp_dist = 0.0; // distance to next waypoint
float wp_dist=0.0; // distance to next waypoint int wp_num = 0; // number of waypoints
int wp_num=0; // number of waypoints
float igain=0.01; // i and p gain are multipliers for the rudder servo, they fix issues float igain = 0.01; // i and p gain are multipliers for the rudder servo, they fix issues
float pgain=0.1; float pgain = 0.1;
float running_err=0.0; float running_err = 0.0;
int hdg_err=0; int hdg_err = 0;
int relwind; // wind direction relative to us int relwind; // wind direction relative to us
long last_telemetry=0; long last_telemetry = 0;
#define TELEMETRY_INTERVAL 10 #define TELEMETRY_INTERVAL 10
#define TARGET_LOOP_INTERVAL 100 //number of milliseconds between loop intervals #define TARGET_LOOP_INTERVAL 100 //number of milliseconds between loop intervals
#define NUM_OF_WAYPOINTS 1 #define NUM_OF_WAYPOINTS 1
float wp_lats[NUM_OF_WAYPOINTS]; float wp_lats[NUM_OF_WAYPOINTS];
float wp_lons[NUM_OF_WAYPOINTS]; float wp_lons[NUM_OF_WAYPOINTS];
wp_lats[0]=52.4; wp_lats[0] = 52.4;
wp_lons[0]=-4.4; wp_lons[0] = -4.4;
while(1) while (1) {
{
//make loop execute at constant speed //make loop execute at constant speed
time_now=millis(); time_now = millis();
if(time_now-last_time>0&&time_now-last_time<TARGET_LOOP_INTERVAL) if (time_now - last_time > 0 && time_now - last_time < TARGET_LOOP_INTERVAL) {
{ delay(TARGET_LOOP_INTERVAL - (time_now - last_time));
delay(TARGET_LOOP_INTERVAL-(time_now-last_time));
} }
last_time=millis(); last_time = millis();
//get external values //get external values
/* /*
@ -387,30 +360,28 @@ void loop()
readCompass(); readCompass();
//state.wind_dir=getTrueWind(); //state.wind_dir=getTrueWind();
//no wind sensor, so just use a fixed wind direction //no wind sensor, so just use a fixed wind direction
state.wind_dir=270; state.wind_dir = 270;
relwind=mod(state.wind_dir - state.heading); relwind = mod(state.wind_dir - state.heading);
if(millis()-last_gps_read>(GPS_READ_INTERVAL*1000)||millis()<last_gps_read) //read the GPS at the specified interval or whenever the millis count wraps around if (millis() - last_gps_read > (GPS_READ_INTERVAL * 1000) || millis() < last_gps_read) //read the GPS at the specified interval or whenever the millis count wraps around
{ {
say(DEBUG_MINOR,"Reading GPS"); say(DEBUG_MINOR, "Reading GPS");
readGPS(); readGPS();
wp_hdg = (int) TinyGPS::course_to(state.lat, state.lon, wp_lats[wp_num],wp_lons[wp_num]); wp_hdg = (int)TinyGPS::course_to(state.lat, state.lon, wp_lats[wp_num], wp_lons[wp_num]);
wp_dist = TinyGPS::distance_between(state.lat, state.lon, wp_lats[wp_num],wp_lons[wp_num]); wp_dist = TinyGPS::distance_between(state.lat, state.lon, wp_lats[wp_num], wp_lons[wp_num]);
if(wp_dist<WP_THRESHOLD) if (wp_dist < WP_THRESHOLD) {
{
wp_num++; wp_num++;
if(wp_num==NUM_OF_WAYPOINTS) //reached last waypoint already if (wp_num == NUM_OF_WAYPOINTS) //reached last waypoint already
{ {
wp_num--; wp_num--;
} } else //reached new waypoint
else //reached new waypoint
{ {
wp_hdg = (int) TinyGPS::course_to(state.lat, state.lon,wp_lats[wp_num],wp_lons[wp_num]); wp_hdg = (int)TinyGPS::course_to(state.lat, state.lon, wp_lats[wp_num], wp_lons[wp_num]);
wp_dist = TinyGPS::distance_between(state.lat, state.lon, wp_lats[wp_num],wp_lons[wp_num]); wp_dist = TinyGPS::distance_between(state.lat, state.lon, wp_lats[wp_num], wp_lons[wp_num]);
} }
} }
last_gps_read=millis(); last_gps_read = millis();
} }
//sail logic //sail logic
@ -424,29 +395,25 @@ void loop()
* then we use the heading and the error to set what position the rudder should be in, clamp it then also store that value in state for reference later (state holds all the data the arduino needs, see its definition at like 60~) * then we use the heading and the error to set what position the rudder should be in, clamp it then also store that value in state for reference later (state holds all the data the arduino needs, see its definition at like 60~)
*/ */
hdg_err = get_hdg_diff(wp_hdg,state.heading); hdg_err = get_hdg_diff(wp_hdg, state.heading);
running_err = running_err + (float)hdg_err; running_err = running_err + (float)hdg_err;
if (abs(running_err > 4000)) if (abs(running_err > 4000)) {
{ running_err = 4000; // limit integral component
running_err = 4000; // limit integral component
} }
running_err = running_err * 0.9; running_err = running_err * 0.9;
/*dprintf("hdg_err = %d running_err = ",hdg_err); /*dprintf("hdg_err = %d running_err = ",hdg_err);
myDebug.println(running_err);*/ myDebug.println(running_err);*/
state.rudder = (int) round((pgain * (float)hdg_err) + (igain * running_err)); state.rudder = (int)round((pgain * (float)hdg_err) + (igain * running_err));
if(state.rudder<-5) if (state.rudder < -5) {
{ state.rudder = -5;
state.rudder=-5; } else if (state.rudder > 5) {
} state.rudder = 5;
else if(state.rudder>5)
{
state.rudder=5;
} }
rudderServo.writeMicroseconds(1500+(state.rudder*100)); rudderServo.writeMicroseconds(1500 + (state.rudder * 100));
// print debug info // print debug info
/* /*
@ -454,31 +421,28 @@ void loop()
* we mostly print info about where we are and where the waypoint is * we mostly print info about where we are and where the waypoint is
*/ */
if(last_telemetry+(TELEMETRY_INTERVAL*1000)<millis()) if (last_telemetry + (TELEMETRY_INTERVAL * 1000) < millis()) {
{ dprintf(DEBUG_CRITICAL, "time=%ld hdg=%d hdg_err=%d roll=%d pitch=%d truewind=%d relwind=%d sail=%d rudder=%d wp_num=%d wp_hdg=%d wp_dist=%ld ", now(), state.heading, hdg_err, state.roll, state.pitch, state.wind_dir, relwind, state.sail, state.rudder, wp_num, wp_hdg, (long)wp_dist);
dprintf(DEBUG_CRITICAL,"time=%ld hdg=%d hdg_err=%d roll=%d pitch=%d truewind=%d relwind=%d sail=%d rudder=%d wp_num=%d wp_hdg=%d wp_dist=%ld ",now(),state.heading,hdg_err,state.roll,state.pitch,state.wind_dir,relwind,state.sail,state.rudder,wp_num,wp_hdg,(long)wp_dist);
//time=181734082 hdg=-14836 hdg_err=9217 roll=-22526 pitch=24182 truewind=-25261 relwind=27648 sail=-6656 rudder=-7937 wp_hdg=2768 wp_dist=-284423467 lat=52.41648 lon=-4.06522 wplat=52.40000 wplon=-4.40000 running_err=966.57 //time=181734082 hdg=-14836 hdg_err=9217 roll=-22526 pitch=24182 truewind=-25261 relwind=27648 sail=-6656 rudder=-7937 wp_hdg=2768 wp_dist=-284423467 lat=52.41648 lon=-4.06522 wplat=52.40000 wplon=-4.40000 running_err=966.57
// time=1398700112 hdg=158 hdg_err=107 roll=-26 pitch=-32 truewind=302 relwind=144 sail=4 rudder=5 Debug1: [Ctrl] wp_hdg=265 wp_dist=22842 lat=52.41666 lon=-4.06445 wplat=52.40000 wplon=-4.40000 running_err=963.96 // time=1398700112 hdg=158 hdg_err=107 roll=-26 pitch=-32 truewind=302 relwind=144 sail=4 rudder=5 Debug1: [Ctrl] wp_hdg=265 wp_dist=22842 lat=52.41666 lon=-4.06445 wplat=52.40000 wplon=-4.40000 running_err=963.96
if(DEBUG_THRESHOLD>=DEBUG_CRITICAL) if (DEBUG_THRESHOLD >= DEBUG_CRITICAL) {
{
myDebug.print("lat="); myDebug.print("lat=");
myDebug.print(state.lat,5); myDebug.print(state.lat, 5);
myDebug.print(" lon="); myDebug.print(" lon=");
myDebug.print(state.lon,5); myDebug.print(state.lon, 5);
myDebug.print(" wplat="); myDebug.print(" wplat=");
myDebug.print(wp_lats[wp_num],5); myDebug.print(wp_lats[wp_num], 5);
myDebug.print(" wplon="); myDebug.print(" wplon=");
myDebug.print(wp_lons[wp_num],5); myDebug.print(wp_lons[wp_num], 5);
myDebug.print(" running_err="); myDebug.print(" running_err=");
myDebug.println(running_err); myDebug.println(running_err);
} }
//transmit_data(); //transmit_data();
last_telemetry=millis(); last_telemetry = millis();
} }
} }
} }